The challenges of deploying robots and autonomous vehicles call for further efforts to bring the real-time systems and the formal methods communities together. In this paper, we discuss the practicality of paramount model checking formalisms in implementing dynamic-priority-based cooperative schedulers, where capturing the waiting time of tasks has a major impact on scalability. Subsequently , we propose a novel technique that alleviates such an impact, and thus enables schedulability analysis and verification of real-time/behavioral properties within the same model checking framework, while taking into account hardware and OS specificities. The technique is implemented in an automatic translation from a robotic framework to UPPAAL, and evaluated on a real robotic example.